what does omc_1 mean?

[mathTaoTao]

Hi, what does omc_1 mean in the Calib_Results.m, according to your comment, it means rotation vector, but shouldn't the rotation parameters be a 3*3 matrix? Thanks.

[zhixy]

there are several methods to represent rotation: 3*3 matrix, Euler angles, axis-angle, quaternion. If I am right, omc_1 may be Euler angles. In fact, the Calib_Results.m is generated using the camera calibration toolbox, you can just use it, and don't need pay much attention to its content.

[mathTaoTao]

I use the param fc and cc in Calib_Results.m as camera intrinsic parameters M1, and the R, t in Laser_Cam_calib_2.m as extrinsic parameters M2. I try to project the laser cloud point in sample_data/laser_target1.xyz to pixel, here M=M1*M2.inverse, however, the pixels are out of range of (640,480). Any problem?

[zhixy]

It seems right, but you should take care of M2, making sure it transform the 3D points correctly from the laser frame to camera frame. On the other hand, are only a few points out of range? If so, maybe it's right, because it is possible that some points are beyond the view of the camera

[mathTaoTao]

Thanks! Here M=M1*M2, and I filtered the invalid points, I think I have got the right result.

[zhixy]

OK, good.